Paper Info
Title
Fuzzy Modeling And Control For Intention Recognition In Human-Robot Systems
Abstract
The recognition of human intentions from trajectories in the framework of human-robot interaction is a challenging field of research. In this paper some control problems of the human-robot interaction and their intentions to compete or cooperate in shared work spaces are addressed and the time schedule of the information flow is discussed. The expected human movements relative to the robot are summarized in a so-called "compass dial" from which fuzzy control rules for the robot's reactions are derived. To avoid collisions between robot and human very early the computation of collision times at predicted human-robot intersections is discussed and a switching controller for collision avoidance is proposed. In the context of the recognition of human intentions to move to certain goals, pedestrian tracks are modeled by fuzzy clustering, lanes preferred by human agents are identified, and the identification of degrees of membership of a pedestrian track to specific lanes are discussed. Computations based on simulated and experimental data show the applicability of the methods presented.
Year
DOI
Venue
2016
10.5220/0006015400670074
PROCEEDINGS OF THE 8TH INTERNATIONAL JOINT CONFERENCE ON COMPUTATIONAL INTELLIGENCE, VOL 2: FCTA
Keywords
Field
DocType
Fuzzy Control, Fuzzy Modeling, Human-robot Interaction, Human Intentions
Computer science,Fuzzy logic,Artificial intelligence,Human–robot interaction,Machine learning
Conference
Citations 
PageRank 
References 
1
0.36
0
Authors
3
Name
Order
Citations
PageRank
Rainer Palm130441.41
Ravi Chadalavada210.70
Achim J. Lilienthal31468113.18